"updated arm logic"

app/src/modules/builder/agv/pathNavigator.tsx

@@ -3,7 +3,10 @@ import * as THREE from "three";
 import { useFrame, useThree } from "@react-three/fiber";
 import { NavMeshQuery } from "@recast-navigation/core";
 import { Line } from "@react-three/drei";
-import { useAnimationPlaySpeed, usePlayButtonStore } from "../../../store/usePlayButtonStore";
+import {
+  useAnimationPlaySpeed,
+  usePlayButtonStore,
+} from "../../../store/usePlayButtonStore";
 import { usePlayAgv } from "../../../store/store";
 
 interface PathNavigatorProps {
@@ -11,7 +14,7 @@ interface PathNavigatorProps {
   pathPoints: any;
   id: string;
   speed: number;
-  globalSpeed: number,
+  globalSpeed: number;
   bufferTime: number;
   hitCount: number;
   processes: any[];
@@ -40,11 +43,21 @@ export default function PathNavigator({
 }: PathNavigatorProps) {
   const [currentPhase, setCurrentPhase] = useState<Phase>("initial");
   const [path, setPath] = useState<[number, number, number][]>([]);
-  const [toPickupPath, setToPickupPath] = useState<[number, number, number][]>([]);
-  const [pickupDropPath, setPickupDropPath] = useState<[number, number, number][]>([]);
-  const [dropPickupPath, setDropPickupPath] = useState<[number, number, number][]>([]);
-  const [initialPosition, setInitialPosition] = useState<THREE.Vector3 | null>(null);
-  const [initialRotation, setInitialRotation] = useState<THREE.Euler | null>(null);
+  const [toPickupPath, setToPickupPath] = useState<[number, number, number][]>(
+    []
+  );
+  const [pickupDropPath, setPickupDropPath] = useState<
+    [number, number, number][]
+  >([]);
+  const [dropPickupPath, setDropPickupPath] = useState<
+    [number, number, number][]
+  >([]);
+  const [initialPosition, setInitialPosition] = useState<THREE.Vector3 | null>(
+    null
+  );
+  const [initialRotation, setInitialRotation] = useState<THREE.Euler | null>(
+    null
+  );
   const [boxVisible, setBoxVisible] = useState(false);
 
   const distancesRef = useRef<number[]>([]);
@@ -61,11 +74,14 @@ export default function PathNavigator({
 
   const boxRef = useRef<THREE.Mesh | null>(null);
 
-  const baseMaterials = useMemo(() => ({
-    Box: new THREE.MeshStandardMaterial({ color: 0x8b4513 }),
-    Crate: new THREE.MeshStandardMaterial({ color: 0x00ff00 }),
-    Default: new THREE.MeshStandardMaterial({ color: 0xcccccc })
-  }), []);
+  const baseMaterials = useMemo(
+    () => ({
+      Box: new THREE.MeshStandardMaterial({ color: 0x8b4513 }),
+      Crate: new THREE.MeshStandardMaterial({ color: 0x00ff00 }),
+      Default: new THREE.MeshStandardMaterial({ color: 0xcccccc }),
+    }),
+    []
+  );
 
   useEffect(() => {
     const object = scene.getObjectByProperty("uuid", id);
@@ -135,7 +151,11 @@ export default function PathNavigator({
     const pickupToDropPath = computePath(pickup, drop);
     const dropToPickupPath = computePath(drop, pickup);
 
-    if (toPickupPath.length && pickupToDropPath.length && dropToPickupPath.length) {
+    if (
+      toPickupPath.length &&
+      pickupToDropPath.length &&
+      dropToPickupPath.length
+    ) {
       setPickupDropPath(pickupToDropPath);
       setDropPickupPath(dropToPickupPath);
       setToPickupPath(toPickupPath);
@@ -163,7 +183,10 @@ export default function PathNavigator({
   }, [path]);
 
   function logAgvStatus(id: string, status: string) {
-    // console.log(`AGV ${id}: ${status}`);
+    // console.log(
+    //   `AGV ${id}: ${status}`
+    
+    // );
   }
 
   function findProcessByTargetModelUUID(processes: any, targetModelUUID: any) {
@@ -223,7 +246,9 @@ export default function PathNavigator({
   }, [processes, MaterialRef, boxVisible, scene, id, baseMaterials]);
 
   useFrame((_, delta) => {
-    const currentAgv = (agvRef.current || []).find((agv: AGVData) => agv.vehicleId === id);
+    const currentAgv = (agvRef.current || []).find(
+      (agv: AGVData) => agv.vehicleId === id
+    );
 
     if (!scene || !id || !isPlaying) return;
 
@@ -243,6 +268,7 @@ export default function PathNavigator({
     const isAgvReady = () => {
       if (!agvRef.current || agvRef.current.length === 0) return false;
       if (!currentAgv) return false;
+
       return currentAgv.isActive && hitCount >= currentAgv.maxHitCount;
     };
 
@@ -266,12 +292,19 @@ export default function PathNavigator({
     }
 
     if (isPlaying && currentPhase === "initial" && !hasReachedPickup.current) {
-      const reached = moveAlongPath(object, path, distancesRef.current, speed, delta, progressRef);
+      const reached = moveAlongPath(
+        object,
+        path,
+        distancesRef.current,
+        speed,
+        delta,
+        progressRef
+      );
 
       if (reached) {
         hasReachedPickup.current = true;
         if (currentAgv) {
-          currentAgv.status = 'picking';
+          currentAgv.status = "picking";
         }
         logAgvStatus(id, "Reached pickup point, Waiting for material");
       }
@@ -287,20 +320,28 @@ export default function PathNavigator({
         progressRef.current = 0;
         logAgvStatus(id, "Started from pickup point, heading to drop point");
         if (currentAgv) {
-          currentAgv.status = 'toDrop';
+          currentAgv.status = "toDrop";
         }
-      }, 0)
+      }, 0);
       return;
     }
 
     if (isPlaying && currentPhase === "toDrop") {
-      const reached = moveAlongPath(object, path, distancesRef.current, speed, delta, progressRef);
+      const reached = moveAlongPath(
+        object,
+        path,
+        distancesRef.current,
+        speed,
+        delta,
+        progressRef
+      );
 
       if (reached && !isWaiting.current) {
         isWaiting.current = true;
         logAgvStatus(id, "Reached drop point");
         if (currentAgv) {
-          currentAgv.status = 'droping';
+          currentAgv.status = "droping";
+          currentAgv.hitCount = currentAgv.hitCount--;
         }
         timeoutRef.current = setTimeout(() => {
           setPath([...dropPickupPath]);
@@ -309,16 +350,26 @@ export default function PathNavigator({
           isWaiting.current = false;
           setBoxVisible(false);
           if (currentAgv) {
-            currentAgv.status = 'toPickup';
+            currentAgv.status = "toPickup";
           }
-          logAgvStatus(id, "Started from droping point, heading to pickup point");
+          logAgvStatus(
+            id,
+            "Started from droping point, heading to pickup point"
+          );
         }, bufferTime * 1000);
       }
       return;
     }
 
     if (isPlaying && currentPhase === "toPickup") {
-      const reached = moveAlongPath(object, path, distancesRef.current, speed, delta, progressRef);
+      const reached = moveAlongPath(
+        object,
+        path,
+        distancesRef.current,
+        speed,
+        delta,
+        progressRef
+      );
 
       if (reached) {
         if (currentAgv) {
@@ -326,14 +377,21 @@ export default function PathNavigator({
         }
         setCurrentPhase("initial");
         if (currentAgv) {
-          currentAgv.status = 'picking';
+          currentAgv.status = "picking";
         }
         logAgvStatus(id, "Reached pickup point again, cycle complete");
       }
       return;
     }
 
-    moveAlongPath(object, path, distancesRef.current, speed, delta, progressRef);
+    moveAlongPath(
+      object,
+      path,
+      distancesRef.current,
+      speed,
+      delta,
+      progressRef
+    );
   });
 
   function moveAlongPath(
@@ -379,7 +437,11 @@ export default function PathNavigator({
       const targetRotationY = Math.atan2(targetDirection.x, targetDirection.z);
 
       const rotationSpeed = Math.min(5 * delta, 1);
-      object.rotation.y = THREE.MathUtils.lerp(object.rotation.y, targetRotationY, rotationSpeed);
+      object.rotation.y = THREE.MathUtils.lerp(
+        object.rotation.y,
+        targetRotationY,
+        rotationSpeed
+      );
     }
 
     return false;